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Examining the Simple Lidar Tutorial

Description: This tutorial examines running the simple lidar tutorial. Tutorial Level: BEGINNER Previous Tutorial: Writing a Simple Lidar Tutorial (c)(python) (c++)

Table of Contents

Running the Lidar Turorial

In the last tutorial we made a tutorial called "lidar_tutorial". Let's run it:

./lidar_tutorial                (C++)(C)
python lidar_tutorial.py        (Python)

You will see something similar to:

    YDLidar SDK initializing
    YDLidar SDK has been initialized
    [YDLIDAR]:SDK Version: 1.0.0
    LiDAR successfully connected
    [YDLIDAR]:Lidar running correctly ! The health status: good
    [YDLIDAR] Connection established in [/dev/ttyUSB0][230400]:
    Firmware version: 1.3
    Hardware version: 1
    Model: G4
    Serial: 2020010200010001
    [YDLIDAR INFO] Current Scan Frequency: 10.000000Hz
    LiDAR init success!
    [YDLIDAR]:Fixed Size: 900
    [YDLIDAR]:Sample Rate: 9K
    [YDLIDAR INFO] Current Sampling Rate : 9K
    [YDLIDAR INFO] Now YDLIDAR is scanning ......
    Scan received[1582955714469712000]: 964 ranges is [9.342144]Hz
    Scan received[1582955714607423000]: 954 ranges is [9.429421]Hz
    Scan received[1582955714742073000]: 949 ranges is [9.485030]Hz
    Scan received[1582955714875723000]: 946 ranges is [9.513148]Hz
    Scan received[1582955715008873000]: 943 ranges is [9.547170]Hz
    Scan received[1582955715141423000]: 938 ranges is [9.593015]Hz
    Scan received[1582955715273253000]: 933 ranges is [9.651109]Hz
    Scan received[1582955715404003000]: 930 ranges is [9.686395]Hz
    Scan received[1582955715534183000]: 928 ranges is [9.698230]Hz
    Scan received[1582955715664261000]: 919 ranges is [9.794232]Hz
    Scan received[1582955715792611000]: 906 ranges is [9.936508]Hz

When you are done, press Ctrl-C to terminate both the lidar tutorial.

Note: ERROR

  • ./lidar_tutorial: error while loading shared libraries: libydlidar_sdk.so: cannot open shared object file: No such file or directory if the above error occurs, the operation is as follows:
cat /etc/ld.so.conf
        include ld.so.conf.d/*.conf
## ydlidar_sdk library path added to ld.so.conf.
echo "/usr/local/lib" >> /etc/ld.so.conf
sudo ldconfig

OR

## ydlidar_sdk library path added to LD_LIBRARY_PATH
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH